Monorail anchoring and supporting cooperative machine for fully mechanized excavation face

ABSTRACT

The present invention discloses electromechanical equipment integrating functions of anchor protection and supporting, including a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system. The suspension support system is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the system. The power system is mounted at a tail end of a system main beam in the suspension support system. The advanced support system is mounted at a front end of the system main beam in the suspension support system. The subsidiary transport system is mounted on the system main beam in the suspension support system at a rear side of the advanced support system. The anchoring robot system is mounted on the system main beam in the suspension support system between the power system and the subsidiary transport system. Furthermore, the present invention has good turning and slope changing performance, and the transport efficiency of the equipment is high. In addition, an anchoring robot working platform has a buffering function, the anchoring is stable, and the operation efficiency is high.

BACKGROUND Technical Field

The present invention relates to the field of electromechanicalequipment for fully mechanized excavation faces, particularly toelectromechanical equipment integrating the functions of anchorprotection and supporting, and belongs to the scope of anchoring andsupporting integrated machines.

Related Art

In recent years, the research and development of coal miningtechnologies and equipment in China have made significant breakthroughs,and coal mining operation has proposed higher requirements on miningspeed while requiring less people or no people. In order to solve theproblem of “mining maladjustment” in a coal mining process, a great dealof manpower and material resources has been invested in the research anddevelopment of road-headers, and great progress has been made. Atpresent, the main factors that restrict the further improvement ofproduction capacity of fully-mechanized coal mining are low anchoringand supporting operating speed and low work efficiency.

Since the working time sequences of tunneling, anchoring and supportingare relatively close, and the synergism and cooperation among the threedirectly determines the speed of tunneling, some products haveintegrated tunneling, anchoring and supporting mechanical equipment as awhole at present. The essence of the all-in-one machines disclosed bypatents represented by those with publication patent numbers of201721694586.1, 201711089051.6, 201711288542.3 and 201910109402.8 is tosimply combine an anchoring mechanism and a temporary supportingmechanism on a road-header. Although such all-in-one machines have thefunction of multi-process operation, the processes cannot be performedsimultaneously, so that the problem of cooperative operation oftunneling, anchoring and supporting is not fundamentally solved.

The present research group proposed an application patent of integratedequipment with a protection and anchoring cooperative operationfunction, which adopts a monorail crane advancing manner, separates theanchoring equipment, the supporting equipment and the road-header, andthe efficient cooperative operation of tunneling, anchoring andsupporting can be generally realized, but the overall size of theequipment and the stability in the transport process still have thefollowing deficiencies:

1) The size of the equipment is large, and the usable range is limited.

In the patent, an anchoring device, a supporting device and theroad-header are separated, so that the overall equipment size is greatlyreduced compared with a conventional tunneling-anchoring-supportingintegrated machine, is suitable for tunnels of common mines, but thestructure of a subsidiary carrying mechanism is relatively complicatedand heavy, which is not conducive to the transport of the equipment, andthe application range is limited to a certain extent.

2) Turning maneuvering characteristics of the equipment is poor and isnot conductive to transport.

The patent adopts a monorail crane for the transport of the equipment,the structure of a power system is simple, but the transport state isgreatly affected by the operating condition of a tunnel roof. Therequirement on performance of the power system on the monorail crane isvery high especially when the tunnel has a bending or a slope, but thepower system is only that a motor drives a power buggy through areducer, and the turning performance and anti-slipping performance ofthe whole set of equipment in a running process on the rail arerelatively poor.

3) An anchoring platform of the equipment is unstable and is notconducive to the anchoring operation.

In the patent, the anchoring operation is performed by an anchor rodrobot mounted on an anchoring robot working platform. The anchoringrobot working platform is mounted at a tail end of a main beam of ananchoring robot system through a pin. A jumbolter may generate a greatimpact force in a drilling process, which is directly acted on theworking platform; however, the platform has no buffering function, sothat the anchoring robot working platform cannot provide a stableworking environment for the jumbolter, which is not conducive to theanchoring operation.

In view of the above problems, it is necessary to propose an improvementproject for the existing equipment to further improve the operationperformance of “anchoring and supporting”.

SUMMARY

In order to overcome defects of the prior art, the objective of thepresent invention is to provide a novel anchoring and supportingcooperative machine packaged technology and equipment, which has astructure with a function of anchor protection and supportingoperations, reduced equipment volume and improved maneuveringcharacteristics of the equipment, and is capable of realizing efficientanchor protection operations of a coal mining tunnel and finally forminga fully mechanized excavation face. The technical problem to be solvedby the present invention is realized by adopting the following technicalsolution:

A monorail anchoring and supporting cooperative machine for a fullymechanized excavation face, including a suspension support system, apower system, an advanced support system, a subsidiary transport systemand an anchoring robot system. The suspension support system is fixed ona top end of a coal mining tunnel through an anchor rod to providesupport for the whole set of equipment. The power system is mounted at atail end of a system main beam in the suspension support system. Theadvanced support system is mounted at a front end of the system mainbeam in the suspension support system. The subsidiary transport systemis mounted on the system main beam in the suspension support system at arear side of the advanced support system. The anchoring robot system ismounted on the system main beam in the suspension support system betweenthe power system and the subsidiary transport system.

The suspension support system includes the system main beam, a top beam,a supporting member, a rail and a rectangular pin. An upper end of therail is welded with a structural member for mounting, and two sides of alower end are welded with racks. The system main beam is mounted on therail through a load-bearing trolley. The top beam is provided with fourholes, and is fixed on the top end of the coal mining tunnel through ananchor rod. An upper end of the supporting member is connected with thetop beam through the rectangular pin, and a lower end is connected withthe rail through the rectangular pin.

The power system includes the load-bearing trolley, a motor, a motorbase and a gear driving system. The motor is mounted on the motor basethrough a bolt. The motor base is mounted on a lower bottom surface ofthe load-bearing trolley through a bolt. The load-bearing trolley ismounted on a surface of the rail and is capable of sliding on thesurface of the rail. The gear driving system includes a driven straightgear A, a driven worm gear A, a worm A, a bevel gear wheel A, a bevelpinion A, a differential mechanism, an axle drive bevel pinion A, adriven straight gear B, a driven worm gear B, a worm B, a bevel gearwheel B, a bevel pinion B and a bevel gear B. In order to facilitate thetravelling control of the equipment, the motor is a frequency conversionintegrated machine.

The advanced support system includes an advanced support main beam, asupporting net bracket, a supporting net and a supporting net hydraulictelescopic system. One end of the advanced support main beam isconnected with the system main beam through a pin, and the other end isconnected with the supporting net bracket through a pin. One end of thesupporting net hydraulic telescopic system is mounted on the advancedsupport main beam, and the other end is mounted on the supporting netbracket. The supporting net is tied on the supporting net bracket. Thesupporting net hydraulic telescopic system is capable of adjusting asize of the supporting net according to a state of equipment to besupported and supporting conditions to realize efficient supporting.

The subsidiary transport system includes a subsidiary transport systemsupporting assembly A, a subsidiary transport system supporting assemblyB, a supporting beam, a supporting stand column A, a supporting standcolumn B, a chain wheel and chain transporting device, a driving deviceand a carrying manipulator. Each of the subsidiary transport systemsupporting assembly A and the subsidiary transport system supportingassembly B includes an upper suspending beam, a hydraulic cylinder and alower suspending beam. The upper suspending beam is connected with thesystem main beam through a pin. The chain wheel and chain transportingdevice includes a chain wheel, a chain, a movable stopping block, amovable stopping plate and an I-shaped stopping rod. The chain wheeldrives the chain to move through engaging. The driving device includes abevel gear AA, a bevel gear BB, a servo motor AA and a motor cabinet.The carrying manipulator includes a mechanical gripper A, a mechanicalgripper B, a front-end execution rod, a joint A, a joint B, a joint C, aservo motor A, a servo motor B and a servo motor C. The mechanicalgripper A and the mechanical gripper B are welded at left and rightsides of a tail end of the front-end execution rod respectively.

The anchoring robot system includes an anchoring robot hydrauliccylinder set, an anchoring robot connecting assembly, an anchor rodstorage device, an anchoring robot working platform and an anchoringrobot. The anchoring robot connecting assembly includes a foldable armA, an anchor rod frame motor, a foldable arm B and an anchoring robotconnecting assembly hydraulic cylinder set. One end of the foldable armA is connected with the system main beam through a pin, and the otherend is connected with the foldable arm B through a pin. The anchoringrobot working platform includes a middle motor stator, a left motorstator, a ground-supporting hydraulic cylinder set, a connecting block,a right motor stator, a motor rotor, a foldable arm connecting hydrauliccylinder, a foldable hydraulic cylinder A and a foldable hydrauliccylinder B. The ground-supporting hydraulic cylinder set is respectivelymounted on a lower bottom surface of the left motor stator and a lowerbottom surface of the right motor stator. The anchoring robot includes ajumbolter guide rail, a propulsion motor, a rotating table, an anchoringbig arm, a motor A, a motor B, a motor C, a base case, a turntable, amechanical arm base, a connecting rod A, a connecting rod B, a jumbolterdriving chain and a jumbolter. The jumbolter is mounted on a sliding rodof the jumbolter guide rail by through holes on two sides. Thepropulsion motor drives the jumbolter to move in the jumbolter guiderail through the jumbolter driving chain.

A monorail anchoring and supporting cooperative machine for a fullymechanized excavation face, where a working process includes followingsteps:

S1: manually paving a section of rail on a tunnel roof at first, andmounting a device on the rail;

S2: when a motor is working, enabling a power system to move on the railthrough a gear driving system to push a system main beam connectedthereto and realize movement of a whole set of equipment;

S3: after the whole set of equipment moves to an assigned workingposition, pushing a supporting net bracket to extend by a supporting nethydraulic telescopic system in an advanced support system to drive asupporting net to unfold; then, enabling a chain wheel and chaintransporting device to be at an assigned height through synchronousaction of a subsidiary transport system supporting assembly A and asubsidiary transport system supporting assembly B in a subsidiarytransport system; meanwhile, enabling an anchoring robot workingplatform to descend by a certain height and be parallel to the groundwhen an anchoring robot connecting assembly in an anchoring robot systemswings by a certain angle under a combined action of an anchoring robotconnecting assembly hydraulic cylinder set and a foldable arm connectinghydraulic cylinder, then, unfolding the anchoring robot working platformunder actions of a foldable hydraulic cylinder A and a foldablehydraulic cylinder B, and enabling a ground-supporting hydrauliccylinder set to extend to complete a ground-supporting action, where aneffect is that an impact force generated by a jumbolter in a drillingprocess is absorbed and transmitted to the ground, so as to make theplatform more stable;

S4: transferring materials required in an operation process to anassigned position by a chain wheel and chain transporting device in asubsidiary transport system; grabbing a top beam to a specific positionof a tunnel by a carrying manipulator; simultaneously adjustingpositions of an anchoring robot and an anchor rod storage device toenable an anchor rod in the anchor rod storage device to be loaded inthe jumbolter to complete an anchor rod loading action;

S5: adjusting the anchoring robot to be in different postures to realizeanchoring operation of the jumbolter at side faces of the tunnel anddifferent positions of the roof, and fixing the top beam on the roofthrough the anchor rod to provide support for a whole set of equipment;

S6: grabbing materials required for constructing a suspension supportsystem by the carrying manipulator to be mounted on the top beam, andgrabbing the rail by the carrying manipulator to make an upper end ofthe rail be connected with the suspension support system and a tail endbe connected with a front end of a previous section of rail to completethe paving of the rail; and

S7: in the advanced support system, the subsidiary transport system andthe anchoring robot system, retracting a hydraulic system for adjustingthe configuration, driving the whole set of equipment to move forward bythe motor, and continuing the above steps to repeat anchor protectionand supporting operations.

Including the existing tunneling-anchoring-supporting integrated machineand the patent mentioned herein (Integrated Equipment with Protectionand Anchoring Cooperative Operation Function), compared with the priorart, the present invention has the following beneficial effects:

1) The subsidiary transport system in the present invention is compactin structure and small in volume.

In the present invention, the subsidiary transport system fully uses aspace between the advanced support system and the anchoring robot systemin the equipment and adopts a chain wheel and chain transporting mode,so that a size of a subsidiary transporting device is reduced, types andamounts of materials to be carried are increased, and the volume of thewhole set of equipment is smaller. The present invention is especiallysuitable for being used in a narrow tunnel at “Huainan and Huaibeibasins”.

2) The driving system in the present invention adopts a structure ofgear, rack and differential mechanism, and the maneuveringcharacteristics of the equipment are good.

In the present invention, racks are welded at both sides of a lower endof the rail, and a motor drives a reducer engaged with the rack torotate, so as to enable the equipment to have good slope changingperformance. Meanwhile, a differential mechanism is mounted inside thereducer, so that advancing speeds at an inner side and an outer side ofthe equipment are different in a turning process, thus realizing theturning of a relatively small radian. Therefore, the present inventionhas good maneuvering characteristics, and can stably advance in ahostile tunnel environment.

3) The anchoring robot working platform in the present invention has abuffering function and an anchoring process is stable.

In the present invention, the driving between the anchoring robot at anupper end of the anchoring robot working platform and the platform isrealized by electromagnetism, so that the movement and control accuracyis higher, which is conducive to accurate positioning and drilling ofthe jumbolter; and a lower end of the platform is connected with thehydraulic system. When the jumbolter is in operation, a bottom end ofthe hydraulic system is supported by the ground, so as to absorb animpact force generated in a drilling process and transmit the impactforce to the ground, thus making the platform more stable, and providinga good working condition for the jumbolter.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an overall structure (working state) ofthe present invention.

FIG. 2 is a schematic diagram of an overall structure (non-workingstate) of the present invention.

FIG. 3 is a schematic structure diagram of a system main beam of thepresent invention.

FIG. 4 is a schematic diagram of a suspension support system of thepresent invention.

FIG. 5 is a schematic structure diagram of a rail of the presentinvention.

FIG. 6 is a schematic structure diagram of a power system of the presentinvention. FIG. 7 is a schematic structure diagram of a transmissionassembly of the power system of the present invention.

FIG. 8 is a schematic diagram of a local structure of the transmissionassembly of the power system of the present invention.

FIG. 9 is a schematic structure (working state) diagram of an advancedsupport system of the present invention.

FIG. 10 is a schematic structure (non-working state) diagram of theadvanced support system of the present invention.

FIG. 11 is a schematic diagram of an external supporting structure of asubsidiary transport system of the present invention.

FIG. 12 is a schematic diagram of a local structure of the subsidiarytransport system of the present invention.

FIG. 13 is a schematic structure diagram of a subsidiary transportsystem supporting assembly of the present invention.

FIG. 14 is a schematic structure diagram of a chain wheel and chaintransporting device in the subsidiary transport system of the presentinvention.

FIG. 15 is a schematic structure diagram of a chain wheel of thesubsidiary transport system of the present invention.

FIG. 16 is a schematic structure diagram of a driving device in thesubsidiary transport system of the present invention.

FIG. 17 is a schematic structure diagram of a carrying manipulator inthe subsidiary transport system of the present invention.

FIG. 18 is a schematic diagram of a connection relation between a systemmain beam and an anchoring robot system of the present invention.

FIG. 19 is a schematic structure (non-working state) diagram of theanchoring robot system of the present invention.

FIG. 20 is a schematic structure (working state) diagram of theanchoring robot system of the present invention.

FIG. 21 is a schematic structure diagram of an anchoring robot workingplatform of the present invention.

FIG. 22 is a schematic structure diagram of an anchoring robot of thepresent invention.

Reference numbers in the drawings are as follows: 1-suspension supportsystem; 2-power system; 3-advanced support system; 4-subsidiarytransport system; 5-anchoring robot system; 1-1-system main beam;1-2-top beam; 1-3-supporting member; 1-4-rail; 1-5-rectangular pin;2-1-load-bearing trolley; 2-2-motor base; 2-3-motor; 2-4-gear drivingsystem; 2-4-1-driven straight gear A; 2-4-2-driven worm gear A;2-4-3-worm A;

2-4-4-bevel gear wheel A; 2-4-5-bevel pinion A; 2-4-6-differentialmechanism; 2-4-7-axle drive bevel pinion A; 2-4-8-bevel gear B;2-4-9-bevel pinion B; 2-4-10-bevel gear wheel B; 2-4-11-worm B;2-4-12-driven worm gear B; 2-4-13-driven straight gear B; 3-1-advancedsupport main beam; 3-2-supporting net bracket; 3-3-supporting net;3-4-supporting net hydraulic telescopic system; 4-1-subsidiary transportsystem supporting assembly A; 4-2-supporting beam; 4-3-supporting standcolumn A; 4-4-supporting stand column B; 4-5-subsidiary transport systemsupporting assembly B; 4-5-1-lower suspending beam; 4-5-2-hydrauliccylinder; 4-5-3-upper suspending beam; 4-6-chain wheel and chaintransporting device; 4-6-1-chain; 4-6-2-movable stopping block;4-6-3-I-shaped stopping rod; 4-6-4-movable stopping plate; 4-6-5-chainwheel; 4-7-driving device; 4-7-1-bevel gear AA; 4-7-2-bevel gear BB;4-7-3-servo motor AA; 4-7-4-motor cabinet; 4-8-carrying manipulator;4-8-1-servo motor C; 4-8-2-mechanical gripper A; 4-8-3-mechanicalgripper B; 4-8-4-front-end execution rod; 4-8-5-servo motor A; 4-8-6.joint A; 4-8-7-servo motor B; 4-8-8-joint B; 4-8-9-joint C;5-1-anchoring robot hydraulic cylinder set; 5-2-anchoring robotconnecting assembly; 5-2-1-foldable arm A; 5-2-2-anchor rod frame motor;5-2-3-foldable arm B; 5-2-4-anchoring robot connecting assemblyhydraulic cylinder set; 5-3-anchoring robot working platform;5-3-1-foldable hydraulic cylinder A; 5-3-2-foldable hydraulic cylinderB; 5-3-3-middle motor stator; 5-3-4-left motor stator;5-3-5-ground-supporting hydraulic cylinder set; 5-3-6-connecting block;5-3-7-right motor stator; 5-3-8-motor rotor; 5-3-9-foldable armconnecting hydraulic cylinder; 5-4-anchoring robot; 5-4-1-jumbolterguide rail; 5-4-2-propulsion motor; 5-4-3-rotating table;5-4-4-anchoring big arm; 5-4-5-motor C; 5-4-6-motor B; 5-4-7-motor A;5-4-8-base case; 5-4-9-turntable; 5-4-10-mechanical arm base;5-4-11-connecting rod A; 5-4-12-connecting rod B; 5-4-13-jumbolterdriving chain; 5-4-14-jumbolter; 5-5-anchor rod storage device.

DETAILED DESCRIPTION

In order to make it easy to understand the technical means, creationfeatures, achieved purpose and effectiveness of the present invention,the following is a further detailed description of the present inventionwith reference to the attached drawings and the specific implementation.It should be understood that the specific embodiments described hereinare merely used to explain the present disclosure but are not intendedto limit the present disclosure.

Referring to FIG. 1 and FIG. 2, a monorail anchoring and supportingcooperative machine for a fully mechanized excavation face includes asuspension support system 1, a power system 2, an advanced supportsystem 3, a subsidiary transport system 4 and an anchoring robot system5. The suspension support system 1 is fixed on a top end of a coalmining tunnel through an anchor rod to provide support for the whole setof equipment. The power system 2 is mounted at a tail end of a systemmain beam 1-1 in the suspension support system 1. The advanced supportsystem 3 is mounted at a front end of the system main beam 1-1 in thesuspension support system 1. The subsidiary transport system 4 ismounted on the system main beam 1-1 in the suspension support system 1at a rear side of the advanced support system 3. The anchoring robotsystem 5 is mounted on the system main beam 1-1 in the suspensionsupport system 1 between the power system 2 and the subsidiary transportsystem 4. The monorail anchoring and supporting cooperative machine forthe fully mechanized excavation face has the characteristic that in anon-working state, the advanced support system 3, the subsidiarytransport system 4 and the anchoring robot system 5 can be retracted, sothat an overall space volume of the system is greatly reduced andtransportation is facilitated.

Referring to FIG. 3, FIG. 4 and FIG. 5, the suspension support system 1includes the system main beam 1-1, a top beam 1-2, a supporting member1-3, a rail 1-4 and a rectangular pin 1-5. An upper end of the rail 1-4is welded with a structural member for mounting, and two sides of alower end are welded with racks. The system main beam 1-1 is mounted onthe rail 1-4 through a load-bearing trolley 2-1. The top beam 1-2 isprovided with four holes, and is fixed on the top end of the coal miningtunnel through an anchor rod. An upper end of the supporting member 1-3is connected with the top beam 1-2 through the rectangular pin 1-5, anda lower end is connected with the rail 1-4 through the rectangular pin1-5.

Referring to FIG. 6, FIG. 7 and FIG. 8, the power system 2 includes theload-bearing trolley 2-1, a motor base 2-2, a motor 2-3 and a geardriving system 2-4. The motor 2-3 is mounted on the motor base 2-2through a bolt. The motor base 2-2 is mounted on a lower bottom surfaceof the load-bearing trolley 2-1 through a bolt. The load-bearing trolley2-1 is mounted on the rail 1-4 and is capable of sliding on a surface ofthe rail 1-4. The gear driving system 2-4 includes a driven straightgear A2-4-1, a driven worm gear A2-4-2, a worm A2-4-3, a bevel gearwheel A2-4-4, a bevel pinion A2-4-5, a differential mechanism 2-4-6, anaxle drive bevel pinion A2-4-7, a bevel gear B2-4-8, a bevel pinionB2-4-9, a bevel gear wheel B2-4-10, a worm B2-4-11, a driven worm gearB2-4-12 and a driven straight gear B2-4-13. An output shaft of the motor2-3 is connected with the axle drive bevel pinion A2-4-7 through acoupling. The axle drive bevel pinion A2-4-7 is in tooth matching withthe bevel gear B2-4-8. The bevel gear B2-4-8 is coaxial with thedifferential mechanism 2-4-6. The differential mechanism 2-4-6 transmitsmovement to the bevel pinion A2-4-5 and the bevel pinion B2-4-9 througha shaft respectively. The bevel pinion A2-4-5 is in tooth matching withthe bevel gear wheel A2-4-4. The bevel gear wheel A2-4-4 is coaxial withthe worm A2-4-3. The worm A2-4-3 is in tooth matching with the drivenworm gear A2-4-2. The driven worm gear A2-4-2 is coaxial with the drivenstraight gear A2-4-1. The driven straight gear A2-4-1 is mounted in amanner of being in tooth matching with a rack at one side of the rail1-4. The bevel pinion B2-4-9 is in tooth matching with the bevel gearwheel B2-4-10. The bevel gear wheel B2-4-10 is coaxial with the wormB2-4-11. The worm B2-4-11 is in tooth matching with the driven worm gearB2-4-12. The driven worm gear B2-4-12 is coaxial with the drivenstraight gear B2-4-13. The driven straight gear B2-4-13 is mounted in amanner of being in tooth matching with a rack at the other side of therail 1-4. The driven straight gear A2-4-1 and the driven straight gearB2-4-13 are respectively matched the racks of the rail 1-4 at two sides,and is characterized in that the system is ensured to have a good slopechanging property. The differential mechanism 2-4-6 is characterized bybeing capable of making the driven straight gear A2-4-1 and the drivenstraight gear B2-4-13 have different rotating speeds when the equipmentis turning, so as to enable the equipment to have a stable turningproperty. In order to facilitate the travelling control of theequipment, the motor 2-3 is a frequency conversion integrated machine.

Referring to FIG. 9 and FIG. 10, the advanced support system 3 includesan advanced support main beam 3-1, a supporting net bracket 3-2, asupporting net 3-3 and a supporting net hydraulic telescopic system 3-4.One end of the advanced support main beam 3-1 is connected with thesystem main beam 1-1 through a pin, and the other end is connected withthe supporting net bracket 3-2 through a pin. One end of the supportingnet hydraulic telescopic system 3-4 is mounted on the advanced supportmain beam 3-1, and the other end is mounted on the supporting netbracket 3-2. The supporting net 3-3 is tied on the supporting netbracket 3-2. The supporting net hydraulic telescopic system 3-4 iscapable of adjusting a size of the supporting net 3-3 according to astate of equipment to be supported and supporting conditions to realizeefficient supporting.

Referring to FIG. 11, FIG. 12, FIG. 13, FIG. 14, FIG. 15, FIG. 16 andFIG. 17, the subsidiary transport system 4 includes a subsidiarytransport system supporting assembly A4-1, a subsidiary transport systemsupporting assembly B4-5, a supporting beam 4-2, a supporting standcolumn A4-3, a supporting stand column B4-4, a chain wheel and chaintransporting device 4-6, a driving device 4-7 and a carrying manipulator4-8. Each of the subsidiary transport system supporting assembly A4-1and the subsidiary transport system supporting assembly B4-5 includes anupper suspending beam 4-5-3, a hydraulic cylinder 4-5-2 and a lowersuspending beam 4-5-1. The upper suspending beam 4-5-3 is connected withthe system main beam 1-1 through a pin. The lower suspending beam 4-5-1is connected with the supporting beam 4-2 through a shaft. One end ofthe hydraulic cylinder 4-5-2 is mounted on the upper suspending beam4-5-3, and the other end is mounted on the lower suspending beam 4-5-1.One end of each of the supporting stand column A4-3 and the supportingstand column B4-4 is mounted on the system main beam 1-1 through a pinrespectively at two sides, and the other end is mounted at a tail end ofthe supporting beam 4-2 through a pin respectively at two sides. Thechain wheel and chain transporting device 4-6 includes a chain 4-6-1, amovable stopping block 4-6-2, an I-shaped stopping rod 4-6-3, a movablestopping plate 4-6-4 and a chain wheel 4-6-5. The chain wheel 4-6-5drives the chain 4-6-1 to move through engaging. The movable stoppingblock 4-6-2 and the movable stopping plate 4-6-4 are connected with thechain 4-6-1 through welding, and are characterized by being used forstoring materials of different types. One end of the I-shaped stoppingrod 4-6-3 is connected with the movable stopping block 4-6-2 through apin, the other end is embedded into a sliding chute of the movablestopping plate 4-6-4, and is characterized in that the I-shaped stoppingrod 4-6-3 is capable of sliding in the sliding chute of the movablestopping plate 4-6-4. The driving device 4-7 includes a bevel gearAA4-7-1, a bevel gear BB4-7-2, a servo motor AA4-7-3 and a motor cabinet4-7-4. The chain wheel 4-6-5 is connected with the bevel gear AA4-7-1 ofthe driving device 4-7 through a shaft. The servo motor AA4-7-3 isconnected with the bevel gear BB4-7-2 through a coupling. The bevel gearBB4-7-2 and the bevel gear AA4-7-1 transmit power through toothmatching, namely that the servo motor AA4-7-3 drives the chain 4-6-1 torotate, so as to realize the transportation of the materials. The servomotor AA4-7-3 is mounted on the motor cabinet 4-7-4 welded at one sideedge of the supporting beam 4-2. The carrying manipulator 4-8 includes amechanical gripper A4-8-2, a mechanical gripper B4-8-3, a front-endexecution rod 4-8-4, a joint A4-8-6, a joint B4-8-8, a joint C4-8-9, aservo motor A4-8-5, a servo motor B4-8-7 and a servo motor C4-8-1. Themechanical gripper A4-8-2 and the mechanical gripper B4-8-3 are weldedat left and right sides of a tail end of the front-end execution rod4-8-4 respectively. The front-end execution rod 4-8-4 is connected withthe joint A4-8-6 through the servo motor A4-8-5 and a reducer thereof.The joint A4-8-6 is connected with the joint B4-8-8 through the servomotor B4-8-7 and a reducer thereof. The joint B4-8-8 is connected withthe joint C4-8-9 through the servo motor C4-8-1 and a reducer thereof. Abottom of the joint C4-8-9 is welded to the front end of the system mainbeam 1-1.

Referring to FIG. 18, FIG. 19, FIG. 20, FIG. 21 and FIG. 22, theanchoring robot system 5 includes an anchoring robot hydraulic cylinderset 5-1, an anchoring robot connecting assembly 5-2, an anchoring robotworking platform 5-3, an anchoring robot 5-4 and an anchor rod storagedevice 5-5. The anchoring robot connecting assembly 5-2 includes afoldable arm A5-2-1, an anchor rod frame motor 5-2-2, a foldable armB5-2-3 and an anchoring robot connecting assembly hydraulic cylinder set5-2-4. One end of the foldable arm A5-2-1 is connected with the systemmain beam 1-1 through a pin, and the other end is connected with thefoldable arm B5-2-3 through a pin. The anchoring robot hydrauliccylinder set 5-1 is symmetrically arranged at two sides of the systemmain beam 1-1. One end of the anchoring robot hydraulic cylinder set 5-1is connected with the system main beam 1-1 through a pin, and the otherend is connected with the foldable arm A5-2-1 through a pin. Theanchoring robot connecting assembly hydraulic cylinder set 5-2-4 is twosets of hydraulic systems with one end being mounted on the foldable armA5-2-1 and the other end being mounted on the foldable arm B5-2-3. Theanchor rod frame motor 5-2-2 is fixed to an inner side surface of thefoldable arm A5-2-1 through a bolt. An output shaft of the anchor rodframe motor 5-2-2 is connected with the anchor rod storage device 5-5 tocontrol the rotation thereof. The anchoring robot working platform 5-3includes a middle motor stator 5-3-3, a left motor stator 5-3-4, aground-supporting hydraulic cylinder set 5-3-5, a connecting block5-3-6, a right motor stator 5-3-7, a motor rotor 5-3-8, a foldable armconnecting hydraulic cylinder 5-3-9, a foldable hydraulic cylinderA5-3-1 and a foldable hydraulic cylinder B5-3-2. One end of the foldablearm connecting hydraulic cylinder 5-3-9 is connected with the foldablearm B5-2-3 through a pin, and the other end is connected with the middlemotor stator 5-3-3 through a pin. The left motor stator 5-3-4, themiddle motor stator 5-3-3 and the right motor stator 5-3-7 are connectedthrough the connecting block 5-3-6. One end of the foldable hydrauliccylinder A5-3-1 is mounted on the left motor stator 5-3-4, and the otherend is mounted on the middle motor stator 5-3-3. One end of the foldablehydraulic cylinder B5-3-2 is mounted on the right motor stator 5-3-7,and the other end is mounted on the middle motor stator 5-3-3. Theground-supporting hydraulic cylinder set 5-3-5 is respectively mountedon a lower bottom surface of the left motor stator 5-3-4 and a lowerbottom surface of the right motor stator 5-3-7. The motor rotor 5-3-8 isembedded in an edge chute of the left motor stator 5-3-4, the middlemotor stator 5-3-3 and the right motor stator 5-3-7, and ischaracterized in that the motor rotor 5-3-8 is capable of moving in theedge chute of the left motor stator 5-3-4, the middle motor stator 5-3-3and the right motor stator 5-3-7 in a power-on state. The anchoringrobot 5-4 includes a jumbolter guide rail 5-4-1, a propulsion motor5-4-2, a rotating table 5-4-3, an anchoring big arm 5-4-4, a motorC5-4-5, a motor B5-4-6, a motor A5-4-7, a base case 5-4-8, a turntable5-4-9, a mechanical arm base 5-4-10, a connecting rod A5-4-11, aconnecting rod B5-4-12, a jumbolter driving chain 5-4-13 and a jumbolter5-4-14. The anchoring robot 5-4 is fixed on the motor rotor 5-3-8through a bolt. The base case 5-4-8 at a lower end of the anchoringrobot 5-4 is configured to fix the motor A5-4-7 through a bolt. Themotor A5-4-7 drives the turntable 5-4-9 to rotate through a worm gearmounted in the base case 5-4-8. The mechanical arm base 5-4-10 is fixedon the turntable 5-4-9 through a bolt. The anchoring big arm 5-4-4 ismatched with the mechanical arm base 5-4-10 through a bearing. The motorB5-4-6 is fixed on one side surface of the mechanical arm base 5-4-10through a bolt. An output shaft of the motor B5-4-6 is matched with abearing mounted on the mechanical arm base 5-4-10 and is connected withthe anchoring big arm 5-4-4. The motor C5-4-5 is fixed on an inner sideof the anchoring big arm 5-4-4 through a bolt. An output shaft of themotor C5-4-5 is matched with a bearing and is mounted on an inner sidesurface of the anchoring big arm 5-4-4. The output shaft of the motorC5-4-5 is connected with the mechanical arm base 5-4-10 through abearing. A tail end of the output shaft of the motor C5-4-5 is fixedwith the connecting rod A5-4-11. One end of the connecting rod B5-4-12is connected with a boss shaft at a tail end of the connecting rodA5-4-11 through a bearing with a bearing end cover being fixed on theconnecting rod B5-4-12 through a bolt, and the other end is connectedwith a boss shaft at a tail end of the rotating table 5-4-3 through abearing with a bearing end cover being fixed on the connecting rodB5-4-12 through a bolt. The propulsion motor 5-4-2 is mounted at a lowerside of the jumbolter guide rail 5-4-1. The jumbolter 5-4-14 is mountedon a sliding rod of the jumbolter guide rail 5-4-1 by through holes ontwo sides. The propulsion motor 5-4-2 drives the jumbolter 5-4-14 tomove in the jumbolter guide rail 5-4-1 through the jumbolter drivingchain 5-4-13.

A monorail anchoring and supporting cooperative machine for a fullymechanized excavation face, where a working process includes followingsteps:

S1: a section of rail 1-4 is manually paved on a tunnel roof at first,and a device is mounted on the rail 1-4;

S2: when a motor 2-3 is working, a power system 2 is enabled to move onthe rail 1-4 through a gear driving system 2-4 to push a system mainbeam 1-1 connected thereto and realize movement of a whole set ofequipment;

S3: after the whole set of equipment moves to an assigned workingposition, a supporting net bracket 3-2 is pushed to extend by asupporting net hydraulic telescopic system 3-4 in an advanced supportsystem 3 to drive a supporting net 3-3 to unfold; then, a chain wheeland chain transporting device 4-6 is enabled to be at an assigned heightthrough synchronous action of a subsidiary transport system supportingassembly A4-1 and a subsidiary transport system supporting assembly B4-5in a subsidiary transport system 4; meanwhile, an anchoring robotworking platform 5-3 is enabled to descend by a certain height and beparallel to the ground when an anchoring robot connecting assembly 5-2in an anchoring robot system 5 swings by a certain angle under acombined action of an anchoring robot connecting assembly hydrauliccylinder set 5-2-4 and a foldable arm connecting hydraulic cylinder5-3-9, then, the anchoring robot working platform 5-3 is unfolded underactions of a foldable hydraulic cylinder A5-3-1 and a foldable hydrauliccylinder B5-3-2, and a ground-supporting hydraulic cylinder set 5-3-5 isextended to complete a ground-supporting action, where an effect is thatan impact force generated by a jumbolter 5-4-14 in a drilling process isabsorbed and transmitted to the ground, so as to make the platform morestable;

S4: materials required in an operation process are transferred to anassigned position by a chain wheel and chain transporting device 4-6 ina subsidiary transport system 4; a top beam 1-2 is grabbed to a specificposition of a tunnel by a carrying manipulator 4-8; positions of ananchoring robot 5-4 and an anchor rod storage device 5-5 aresimultaneously adjusted to enable an anchor rod in the anchor rodstorage device 5-5 to be loaded in the jumbolter 5-4-14 to complete ananchor rod loading action;

S5: the anchoring robot 5-4 are adjusted to be in different postures torealize anchoring operation of the jumbolter 5-4-14 at side faces of thetunnel and different positions of the roof, and the top beam 1-2 isfixed on the roof through the anchor rod to provide support for a wholeset of equipment;

S6: materials required for constructing a suspension support system 1are grabbed by the carrying manipulator 4-8 to be mounted on the topbeam 1-2, and the rail 1-4 is grabbed by the carrying manipulator 4-8 toenable an upper end of the rail 1-4 to be connected with the suspensionsupport system 1 and a tail end to be connected with a front end of aprevious section of rail 1-4 to complete the paving of the rail; and

S7: in the advanced support system 3, the subsidiary transport system 4and the anchoring robot system 5, a hydraulic system for adjusting theconfiguration is retracted, the whole set of equipment is driven to moveforward by the motor 2-3, and the above steps are continued to repeatanchor protection and supporting operations.

Finally, it should be noted that the foregoing specific implementationsare merely intended for describing the technical solutions of thepresent invention but not for limiting the present invention. Althoughthe present invention is described in detail with reference to theexemplary embodiments, a person of ordinary skill in the art shouldunderstand that they may still make modifications or equivalentreplacements to the technical solutions described in the presentinvention without departing from the spirit and scope of the technicalsolutions of the embodiments of the present invention, which should allbe covered in the claims of the present invention.

What is claimed is:
 1. A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, comprising a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system, wherein the suspension support system is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the whole set of equipment, the power system is mounted at a tail end of a system main beam in the suspension support system, the advanced support system is mounted at a front end of the system main beam in the suspension support system, the subsidiary transport system is mounted on the system main beam in the suspension support system at a rear side of the advanced support system, and the anchoring robot system is mounted on the system main beam in the suspension support system between the power system and the subsidiary transport system.
 2. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the suspension support system comprises the system main beam, a top beam, a supporting member, a rail and a rectangular pin; an upper end of the rail is welded with a structural member for mounting, and two sides of a lower end are welded with racks; the system main beam is mounted on the rail through a load-bearing trolley; the top beam is provided with four holes, and is fixed on the top end of the coal mining tunnel through an anchor rod; an upper end of the supporting member is connected with the top beam through the rectangular pin, and a lower end is connected with the rail through the rectangular pin.
 3. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the power system comprises a load-bearing trolley, a motor, a motor base and a gear driving system; the motor is mounted on the motor base through a bolt; the motor base is mounted on a lower bottom surface of the load-bearing trolley through a bolt; the load-bearing trolley is mounted on a surface of the rail and is capable of sliding on the surface of the rail; the gear driving system comprises a driven straight gear A, a driven worm gear A, a worm A, a bevel gear wheel A, a bevel pinion A, a differential mechanism, an axle drive bevel pinion A, a driven straight gear B, a driven worm gear B, a worm B, a bevel gear wheel B, a bevel pinion B and a bevel gear B, and in order to facilitate the travelling control of the equipment, the motor is a frequency conversion integrated machine.
 4. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the advanced support system comprises an advanced support main beam, a supporting net bracket, a supporting net and a supporting net hydraulic telescopic system; one end of the advanced support main beam is connected with the system main beam through a pin, and the other end is connected with the supporting net bracket through a pin; one end of the supporting net hydraulic telescopic system is mounted on the advanced support main beam, and the other end is mounted on the supporting net bracket; the supporting net is tied on the supporting net bracket; and the supporting net hydraulic telescopic system is capable of adjusting a size of the supporting net according to a state of equipment to be supported and supporting conditions to realize efficient supporting.
 5. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the subsidiary transport system comprises a subsidiary transport system supporting assembly A, a subsidiary transport system supporting assembly B, a supporting beam, a supporting stand column A, a supporting stand column B, a chain wheel and chain transporting device, a driving device and a carrying manipulator; each of the subsidiary transport system supporting assembly A and the subsidiary transport system supporting assembly B comprises an upper suspending beam, a hydraulic cylinder and a lower suspending beam; and the upper suspending beam is connected with the system main beam through a pin.
 6. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 5, wherein the chain wheel and chain transporting device comprises a chain wheel, a chain, a movable stopping block, a movable stopping plate and an I-shaped stopping rod; the chain wheel drives the chain to move through engaging; the driving device comprises a bevel gear AA, a bevel gear BB, a servo motor AA and a motor cabinet; the carrying manipulator comprises a mechanical gripper A, a mechanical gripper B, a front-end execution rod, a joint A, a joint B, a joint C, a servo motor A, a servo motor B and a servo motor C; the mechanical gripper A and the mechanical gripper B are welded at left and right sides of a tail end of the front-end execution rod respectively.
 7. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the anchoring robot system comprises an anchoring robot hydraulic cylinder set, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot; the anchoring robot connecting assembly comprises a foldable arm A, an anchor rod frame motor, a foldable arm B and an anchoring robot connecting assembly hydraulic cylinder set; one end of the foldable arm A is connected with the system main beam through a pin, and the other end is connected with the foldable arm B through a pin.
 8. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 7, wherein the anchoring robot working platform comprises a middle motor stator, a left motor stator, a ground-supporting hydraulic cylinder set, a connecting block, a right motor stator, a motor rotor, a foldable arm connecting hydraulic cylinder, a foldable hydraulic cylinder A and a foldable hydraulic cylinder B; the ground-supporting hydraulic cylinder set is respectively mounted on a lower bottom surface of the left motor stator and a lower bottom surface of the right motor stator; the anchoring robot comprises a jumbolter guide rail, a propulsion motor, a rotating table, an anchoring big arm, a motor A, a motor B, a motor C, a base case, a turntable, a mechanical arm base, a connecting rod A, a connecting rod B, a jumbolter driving chain and a jumbolter; the jumbolter is mounted on a sliding rod of the jumbolter guide rail by through holes on two sides; and the propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.
 9. A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, wherein a working process comprises following steps: S1: manually paving a section of rail on a tunnel roof at first, and mounting a device on the rail; S2: when a motor is working, enabling a power system to move on the rail through a gear driving system to push a system main beam connected thereto and realize movement of a whole set of equipment; S3: after the whole set of equipment moves to an assigned working position, pushing a supporting net bracket to extend by a supporting net hydraulic telescopic system in an advanced support system to drive a supporting net to unfold; then, enabling a chain wheel and chain transporting device to be at an assigned height through synchronous action of a subsidiary transport system supporting assembly A and a subsidiary transport system supporting assembly B in a subsidiary transport system; meanwhile, enabling an anchoring robot working platform to descend by a certain height and be parallel to the ground when an anchoring robot connecting assembly in an anchoring robot system swings by a certain angle under a combined action of an anchoring robot connecting assembly hydraulic cylinder set and a foldable arm connecting hydraulic cylinder, then, unfolding the anchoring robot working platform under actions of a foldable hydraulic cylinder A and a foldable hydraulic cylinder B, and enabling a ground-supporting hydraulic cylinder set to extend to complete a ground-supporting action, wherein an effect is that an impact force generated by a jumbolter in a drilling process is absorbed and transmitted to the ground, so as to make the platform more stable; S4: transferring materials required in an operation process to an assigned position by a chain wheel and chain transporting device in a subsidiary transport system; grabbing a top beam to a specific position of a tunnel by a carrying manipulator; simultaneously adjusting positions of an anchoring robot and an anchor rod storage device to enable an anchor rod in the anchor rod storage device to be loaded in the jumbolter to complete an anchor rod loading action; S5: adjusting the anchoring robot to be in different postures to realize anchoring operation of the jumbolter at side faces of the tunnel and different positions of the roof, and fixing the top beam on the roof through the anchor rod to provide support for the whole set of equipment; S6: grabbing materials required for constructing a suspension support system by the carrying manipulator to be mounted on the top beam, and grabbing the rail by the carrying manipulator to make an upper end of the rail be connected with the suspension support system and a tail end be connected with a front end of a previous section of rail to complete the paving of the rail; and S7: in the advanced support system, the subsidiary transport system and the anchoring robot system, retracting a hydraulic system for adjusting the configuration, driving the whole set of equipment to move forward by the motor, and continuing the above steps to repeat anchor protection and supporting operations. 